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US20230405825A1 - Robot control device, robot control system, and robot control method - Google Patents

Robot control device, robot control system, and robot control method Download PDF

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Publication number
US20230405825A1
US20230405825A1 US18/033,904 US202118033904A US2023405825A1 US 20230405825 A1 US20230405825 A1 US 20230405825A1 US 202118033904 A US202118033904 A US 202118033904A US 2023405825 A1 US2023405825 A1 US 2023405825A1
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Prior art keywords
setting
robot control
setting information
control device
pieces
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US18/033,904
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English (en)
Inventor
Atsushi NOBUHARA
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Fanuc Corp
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Fanuc Corp
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H04L12/4641—Virtual LANs, VLANs, e.g. virtual private networks [VPN]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a robot control device for making settings for a virtual local area network (hereinafter referred to as a VLAN) in a network in which a plurality of robots are connected via a line concentrator, a robot control system, and a robot control method.
  • a VLAN virtual local area network
  • Patent Document 1 describes a computer system for a production line in which a line concentrator such as a hub causes pieces of factory equipment having roles of the same kind to belong to the same VLAN so that data is efficiently distributed in a manufacturing line network. It is described that each piece of factory equipment includes a computer that is connected to a robot arm to control the robot arm.
  • a line concentrator such as a hub causes pieces of factory equipment having roles of the same kind to belong to the same VLAN so that data is efficiently distributed in a manufacturing line network. It is described that each piece of factory equipment includes a computer that is connected to a robot arm to control the robot arm.
  • a robot control system in which a virtual LAN is set in a network in which a plurality of robots are connected via a line concentrator, it is possible to make communication smooth by using broadcast for data transmission and performing communication only among necessary robots.
  • a combination of a plurality of robots changes according to work. Therefore, it is desired to change the combination of a plurality of robots according to work to perform communication only among necessary robots.
  • a first aspect of the present disclosure is robot control device connected to a line concentrator and constituting a virtual local area network together with at least one other robot control device connected to the line concentrator, the robot control device including:
  • a second aspect of the present disclosure is a robot control system including a plurality of robot control devices controlling a plurality of robots, respectively, and a line concentrator connected to the plurality of robot control devices and being capable of constituting a virtual local area network among at least two robot control devices among the plurality of robot control devices, wherein one robot control device among the at least two robot control devices includes a setting unit setting a plurality of pieces of setting information about the virtual local area network, a storage unit storing the plurality of pieces of setting information set by the setting unit; and a transmission unit transmitting, to the line concentrator, setting request information requesting setting to a piece of setting information selected from among the plurality of pieces of setting information; and the line concentrator sets the virtual local area network among the at least two robot control devices, based on the setting request information.
  • a third aspect of the present disclosure is a robot control method for a robot control system, the robot control system including a plurality of robot control devices controlling a plurality of robots, respectively, and a line concentrator connected to the plurality of robot control devices and being capable of constituting a virtual local area network among at least two robot control devices among the plurality of robot control devices, the robot control method including:
  • each aspect of the present disclosure it is possible to change a combination of a plurality of robots according to work to perform communication only among necessary robots, and reduce traffic among robots.
  • FIG. 1 is a block diagram showing a robot control system of a first embodiment of the present disclosure
  • FIG. 2 is a block diagram showing configurations of a robot control device included in each robot and a part of a hub in the robot control system of the first embodiment;
  • FIG. 3 is a diagram showing a setting screen where settings for a VLAN for first work are inputted
  • FIG. 4 is a diagram showing the setting screen where settings for a VLAN for second work are inputted
  • FIG. 5 is a flowchart showing operation from when a setting unit displaying the setting screen until storing VLAN setting information into a storage unit;
  • FIG. 6 is a flowchart showing operation from when a program command execution unit outputting a VLAN setting request until a transmission unit transmitting setting request information to the hub;
  • FIG. 7 is a block diagram showing a configuration of a second embodiment of the robot control device included in each robot in the robot control system.
  • FIG. 8 is a flowchart showing operation from when the setting unit outputting a VLAN setting request until the transmission unit transmitting setting request information to the hub.
  • FIG. 1 is a block diagram showing a robot control system according to a first embodiment of the present disclosure.
  • a robot control system 10 includes a hub 100 to be a line concentrator, and six robots 200 to 700 that are LAN-connected via the hub 100 .
  • the robots 200 to 700 are connected to ports P1 to P6 of the hub 100 .
  • FIG. 1 shows an example in which a network is divided by the hub 100 , and two independent VLANs are configured for four robots 200 to 500 and for two robots 600 and 700 .
  • the robot control system 10 has a function of performing communication via Ethernet (registered trademark) among the robots and performing prevention of interference among the robots or synchronization among motions of the robots.
  • Ethernet registered trademark
  • carriage of the workpiece by the four robots 200 to 500 can be realized by the robot 200 serving as a leader and the other three robots 300 to 500 making motions, following motions of the robot 200 .
  • data required for the follow motions is transmitted.
  • broadcast can be used for the data transmission. Since the four robots 200 to 500 constitute a VLAN as shown in FIG. 1 , communication can be performed only among the robots 200 to 500 requiring transmission/reception of data, and, therefore, communication becomes more smoothly without increase in network traffic.
  • FIG. 2 is a block diagram showing configurations of a robot control device included in each robot and a part of a hub.
  • a robot control device 210 includes a mechanism for causing the robot to perform work, but the function is omitted in FIG. 2 .
  • the robot control device 210 may be provided separately from the robot, description will be made on the assumption that the robot 200 includes the robot control device 210 in the present embodiment.
  • the robot control device 210 includes a setting unit 211 , a storage unit 212 , a program command execution unit 213 , a URL creation unit 214 , and a transmission unit 215 .
  • the transmission unit 215 communicates with the hub 100 that includes a web server 110 .
  • the setting unit 211 is, for example, an teach pendant provided with a liquid crystal display device equipped with a touch panel, and displays a setting screen for inputting VLAN setting information on the liquid crystal display device.
  • the setting unit 211 stores a plurality of sets of VLAN settings for a plurality of combinations among the four robots 200 to 500 into the storage unit 212 . Description will be made below on an example in which the setting unit 211 stores two combinations of robots for which VLAN settings are made, into the storage unit 212 to perform first work and second work by the four robots 200 to 500 .
  • the first work is work in which the robot 200 serving as a leader, and the other three robots 300 to 500 make motions, following motions of the robot 200 .
  • the second work is work in which the robot 200 serves as a leader, and two other robots 400 and 500 make motions, following motions of the robot 200 .
  • the setting unit 211 stores a VLAN setting number to be data accompanying a program to perform the first work (referred to as a setting number SN1), and a VLAN setting number to be data accompanying a program to perform the second work (referred to as a setting number SN2).
  • the setting unit 211 displays the setting screen for setting VLAN setting information for the hub 100 , in response to an instruction by a user.
  • the user performs the following operations to input VLAN setting information about the first work on the setting screen.
  • description will be made, with a switchport multiple VLAN as an example of a VLAN.
  • the VLAN is not especially limited to the switchport multiple VLAN, and other VLANs such as a port VLAN can be used. As shown on the setting screen shown in FIG.
  • the user makes inputs of setting the VLAN mode to switchport multiple VLAN, setting the group for the port P1 to UV-A to set the port P1 of the hub 100 to uplink VLAN (W-A), and setting the groups for the ports P2 to P4 to CV-A1 to set the ports P2 to P4 of the hub 100 to client VLAN (CV-A).
  • the setting unit 211 associates the inputted VLAN setting information about the first work with the setting number SN1 to be the data accompanying the program for executing the first work, and stores the VLAN setting information and the setting number SN1 into the storage unit 212 .
  • the uplink VLAN is a VLAN for connecting shared equipment such as a hub
  • the client VLAN is a VLAN for connecting machines or equipment, such as robots, for which mutual communication is restricted. Though it is possible to perform communication between the port P1 belonging to the uplink VLAN and the ports P2 to P4 belonging to the client VLAN, it is not possible to perform communication among the ports P2 to P4 belonging to the client VLAN.
  • the setting unit 211 clears the VLAN setting information about the first work on the setting screen in response to an instruction by the user. After that, the user performs the following operations to input VLAN setting information about the second work on the setting screen. As shown on the setting screen shown in FIG. 4 , the user makes inputs of setting the VLAN mode to switchport multiple VLAN, setting the group for the port P1 to UV-A to set the port P1 of the hub 100 to uplink VLAN (UV-A), and setting the groups for the ports P3 and P4 to CV-A1 to set the ports P3 and P4 of the hub 100 to client VLAN (CV-A).
  • the user makes inputs of setting the VLAN mode to switchport multiple VLAN, setting the group for the port P1 to UV-A to set the port P1 of the hub 100 to uplink VLAN (UV-A), and setting the groups for the ports P3 and P4 to CV-A1 to set the ports P3 and P4 of the hub 100 to client VLAN (CV-A).
  • the setting unit 211 associates the inputted VLAN setting information about the second work with the setting number SN2 to be the data accompanying the program for executing the second work, and stores the VLAN setting information and the setting number SN2 into the storage unit 212 .
  • the program command execution unit 213 Before giving an instruction to execute any of the programs, the program command execution unit 213 outputs a request for setting to a VLAN corresponding to a VLAN setting number (for example, the setting number SN1) to be data accompanying the program to be executed, to the URL creation unit 214 .
  • the program command execution unit 213 stores the setting number SN1 to be the data accompanying the program to perform the first work and the setting number SN2 to be the data accompanying the program to perform the second work.
  • the hub 100 includes the web server 110 inside, it becomes possible to communicate VLAN setting information from the storage unit 212 by specifying and transmitting a special URL to be setting request information, from the robot control device 210 .
  • the hub 100 includes a reception unit that receives the URL from the robot control device 210 , description thereof will be omitted because the web server 110 is generally includes the reception unit.
  • the URL creation unit 214 creates a URL, which is a data format for communicating the VLAN setting information corresponding to the SN1 stored in the storage unit 212 , to the hub 100 , and outputs the URL to the transmission unit 215 .
  • the transmission unit 215 transmits the URL to the hub 100 as the setting request information.
  • the hub 100 includes the web server 110 , and the web server 110 analyzes the received URL, and makes VLAN settings for the hub 100 based on VLAN setting information acquired from the storage unit 212 , based on the analyzed URL.
  • a hub includes a web server inside, a special URL is specified from a robot control device, and VLAN setting information is communicated from a storage unit.
  • the method for making settings for the hub from the robot control device is not limited thereto.
  • VLAN setting information may be directly included in setting request information without creating a URL.
  • the program command execution unit 213 starts motions of the robot 200 according to the programs, and instructs the robots 300 to 500 to start synchronized (follow) motions via the transmission unit 215 and the hub 100 . Furthermore, the program command execution unit 213 sends motion information to the robots 300 to 500 via the transmission unit 215 and the hub 100 while causing the robot 200 to make motions according to the programs.
  • the robot control device 210 includes an arithmetic processing device such as a CPU (central processing unit). Further, the robot control device 210 also includes an auxiliary storage device, such as an HDD, that stores application software or various kinds of control programs such as an OS (operating system), and a main memory such as a RAM (random access memory) for storing data that is temporarily required for the arithmetic processing device to execute a program.
  • an arithmetic processing device such as a CPU (central processing unit).
  • the robot control device 210 also includes an auxiliary storage device, such as an HDD, that stores application software or various kinds of control programs such as an OS (operating system), and a main memory such as a RAM (random access memory) for storing data that is temporarily required for the arithmetic processing device to execute a program.
  • the arithmetic processing device reads application software or the OS from the auxiliary storage device and performs arithmetic processing based on the application software or the OS, developing the read application software or OS on the main memory. Based on a result of the arithmetic processing, various kinds of pieces of hardware of each device are controlled. Thereby, the functional blocks of the present embodiment are realized. That is, the present embodiment can be realized by cooperation between hardware and software.
  • FIG. 5 is a flowchart showing operation from when the setting unit 211 displaying the setting screen until storing VLAN setting information into the storage unit 212 .
  • the setting unit 211 displays the setting screen for setting VLAN setting information for the hub 100 in response to an instruction by the user.
  • the setting unit 211 associates VLAN setting information about work inputted by the user with a VLAN setting number to be data accompanying a program to execute the work, and stores the VLAN setting information and the VLAN setting number into the storage unit 212 .
  • Step S 13 the setting unit 211 judges whether the next VLAN setting information is to be inputted or not, and the setting unit 211 returns to Step S 11 if the next VLAN setting information is to be inputted and ends the process if the next VLAN setting information is not to be inputted.
  • the setting unit 211 can judge whether the next VLAN setting information is to be inputted or not by whether the VLAN setting information about the first work on the setting screen has been cleared by the user or not.
  • FIG. 6 is a flowchart showing operation from when the program command execution unit 213 outputting a VLAN setting request until the transmission unit 215 transmitting setting request information to the hub.
  • the program command execution unit 213 outputs, based on a VLAN setting number (for example, the setting number SN1) to be data accompanying the program to be executed, a request for setting of a VLAN corresponding the setting number SN1 to the URL creation unit 214 .
  • a VLAN setting number for example, the setting number SN1
  • the URL creation unit 214 creates a URL, which is a data format for communicating the VLAN setting information corresponding to the setting number SN1 stored in the storage unit 212 , to the hub 100 , and outputs the URL to the transmission unit 215 .
  • the transmission unit 215 transmits the URL to the hub 100 as the setting request information.
  • the setting unit 211 associates inputted VLAN setting information about work with a VLAN setting number to be data accompanying a program for executing the work, and stores the VLAN setting information and the VLAN setting number into the storage unit 212 .
  • the information associated with inputted VLAN setting information about work is assumed to be a VLAN setting number to be data accompanying a program for executing the work, the information is not limited thereto and may be, for example, a number of the program for executing the work is also possible.
  • the program command execution unit 213 before giving an instruction to execute the program, the program command execution unit 213 outputs a request for setting to a VLAN corresponding to the number of the program to be executed, to the URL creation unit.
  • the program command execution unit 213 before giving an instruction to execute any of programs, the program command execution unit 213 reads VLAN setting information corresponding to a VLAN setting number to be data accompanying the program to be executed, from the storage unit 212 , and outputs the VLAN setting information to the URL creation unit 214 .
  • the setting unit 211 reads VLAN setting information from the storage unit 212 and outputs the VLAN setting information to the URL creation unit 214 .
  • FIG. 7 is a block diagram showing a configuration of a second embodiment of the robot control device included in each robot.
  • the robot control system in the present embodiment is the same as the robot control system shown in FIG. 1 .
  • a robot control device 210 A includes the setting unit 211 , the storage unit 212 , the URL creation unit 214 , and the transmission unit 215 .
  • the robot control device 210 A does not include the program command execution unit 213 , and is different in the operation of the setting unit 211 .
  • the setting unit 211 displays the setting screen for inputting VLAN setting information about work of robots, for the hub 100 , in response to an instruction by the user, associates the VLAN setting information about the work inputted by the user with a combination number of a combination of connections of robots based on VLAN settings for the work, and stores the VLAN setting information and the combination number into the storage unit 212 .
  • VLAN setting information about work inputted by the user is associated with a VLAN setting number to be data accompanying a program and stored in the storage unit 212 , but, in the present embodiment, is associated with a combination number of a combination of connections of robots based on VLAN settings for the work and stored into the storage unit 212 .
  • the setting unit 211 stores two combinations into the storage unit 212 to perform first work and second work among the four robots 200 to 500 . In the description below, only operations different from the first embodiment will be described.
  • the setting unit 211 displays the setting screen for setting VLAN setting information for the hub 100 , in response to an instruction by the user, associates inputted VLAN setting information about the first work inputted by the user with a combination number (a combination number N1) of a combination of connections of robots based on VLAN settings for the first work, and stores the VLAN setting information and the combination number into the storage unit 212 .
  • a combination number N1 a combination number of a combination of connections of robots based on VLAN settings for the first work
  • the setting unit 211 displays the setting screen for setting VLAN setting information for the hub 100 , in response to an instruction by the user, associates the inputted VLAN setting information about the second work inputted by the user with a combination number (a combination number N2) of a combination of connections of robots based on VLAN settings for the second work, and stores the VLAN setting information and the combination number into the storage unit 212 .
  • a combination number N2 a combination number of a combination of connections of robots based on VLAN settings for the second work
  • the setting unit 211 displays a selection screen for selecting a plurality of combinations among the four robots 200 to 500 stored in the storage unit 212 , in response to an instruction by the user.
  • the combination numbers N1 and N2, and connection relationships between the ports and the robots are shown.
  • the setting unit 211 outputs a request for setting to VLAN setting information corresponding to the combination number N1 or N2 selected by the user, to the URL creation unit 214 .
  • the URL creation unit 214 creates a URL, which is a data format for communicating the VLAN setting information corresponding to the combination number N1 or N2 stored in the storage unit 212 , to the hub 100 , and outputs the URL to the transmission unit 215 .
  • FIG. 8 is a flowchart showing operation from when the setting unit 211 outputting a VLAN setting request until the transmission unit 215 transmitting setting request information to the hub. Operation of the setting unit 211 of the robot control device 210 A storing VLAN setting information inputted on the setting screen into the storage unit 212 is the same as the operation of the first embodiment described using FIG. 5 except that a VLAN setting number to be data accompanying a program is replaced with a combination number.
  • the setting unit 211 displays the selection screen for selecting a plurality of combinations among the robots 200 to 500 in response to an instruction by the user.
  • a request for setting of a VLAN corresponding to the combination number N1 or N2 selected by selection by the user is outputted to the URL creation unit 214 .
  • the URL creation unit 214 creates a URL, which is a data format for communicating the VLAN setting information corresponding to the combination number N1 or N2 stored in the storage unit 212 , to the hub 100 , and outputs the URL to the transmission unit 215 .
  • the transmission unit 215 transmits the URL to the hub 100 as the setting request information.
  • VLANs In the first and second embodiments described above, description has been made on setting of VLANs, with the first work in which the robot 200 serves as a leader, and the other three robots 300 to 500 make motions, following motions of the robot 200 , and the second work in which the robot 200 serves as a leader, and two other robots 400 and 500 make motions, following motions of the robot 200 given as an example.
  • Setting of VLANs is not limited to the example of the first and second work, and may be for other pieces of work.
  • Setting of VLANs also includes a case of not setting VLANs.
  • a case of setting VLANs for a network for which no VLAN is set a case of changing setting of VLANs, and a case of canceling setting of VLANs to constitute a network for which no VLAN is set are also included.
  • a robot that makes setting of VLANs is not limited to the robot 200 , and may be any of the robots 300 to 500 . If one VLAN is set, and no change is to be made, the VLAN can be set using the setting unit 211 first.
  • the setting unit 211 displays the setting screen for setting VLAN setting information for the hub 100 in response to an instruction by the user, and the user inputs VLAN setting information on the setting screen.
  • the setting unit 211 and a personal computer may be connected so that the personal computer displays the setting screen for setting VLAN setting information for the hub 100 in response to an instruction by the user, the user inputs VLAN setting information about work on the setting screen, and the personal computer transmits the VLAN setting information to the setting unit 211 together with a VLAN setting number to be data accompanying a program or a combination number of a combination of connections of robots.
  • the personal computer may display the selection screen in response to an instruction by the user, instead of the setting unit 211 ; and, by the user selecting the combination number N1 or N2 on the selection screen, the setting unit 211 may read VLAN setting information corresponding to the combination number N1 or N2 selected by the user from the storage unit 212 and output the VLAN setting information to the URL creation unit 214 .
  • An operation or process to start operation of transmitting VLAN setting information to the hub is execution of a program in the first embodiment, and an instruction operation by the user in the second embodiment, but is not limited thereto.
  • Each component included in the robot control device of each embodiment can be realized by hardware, software, or a combination thereof.
  • a robot control method implemented by cooperation among the components included in the robot control device described above can also be realized by hardware, software, or a combination thereof.
  • being realized by software means being realized by a computer reading and executing a program.
  • the program can be supplied to the computer by being stored in any of various types of non-transitory computer-readable media.
  • the non-transitory computer-readable media include various types of tangible storage media.
  • the non-transitory computer-readable media are, for example, a magnetic recording medium (for example, a hard disk drive), a magneto-optical recording medium (for example, a magneto-optical disk), a CD-ROM (read-only memory), a CD-R, a CD-R/W, and a semiconductor memory (for example, a mask ROM, a PROM (programmable ROM), an EPROM (erasable PROM), a flash ROM, and a RAM (random access memory)).
  • a robot control device for example, the robot control device 210 connected to a line concentrator (for example, the hub 100 ) and constituting a virtual local area network together with at least one other robot control device connected to the line concentrator, the robot control device including:
  • a robot control system for example, the robot control system 10 including a plurality of robot control devices controlling a plurality of robots, respectively, and a line concentrator (for example, the hub 100 ) connected to the plurality of robot control devices and being capable of constituting a virtual local area network among at least two robot control devices among the plurality of robot control devices, wherein
  • the one robot control device includes a program command execution unit (for example, the program command execution unit 213 ) giving instructions to execute programs;
  • the setting unit associates virtual local area network setting numbers accompanying the programs that the one robot control device gives the instructions to execute, with the plurality of pieces of setting information, respectively, and stores the virtual local area network setting numbers and the plurality of pieces of setting information into the storage unit; before giving an instruction to execute any of the programs, the program command execution unit outputs a request for setting to a piece of setting information corresponding to a virtual local area network setting number accompanying the program to be executed;
  • a robot control method for a robot control system for example, the robot control system 10
  • the robot control system including a plurality of robot control devices controlling a plurality of robots, respectively, and a line concentrator (for example, the hub 100 ) connected to the plurality of robot control devices and being capable of constituting a virtual local area network among at least two robot control devices (for example, the robot control device 210 ) among the plurality of robot control devices, the robot control method including:

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)
  • Small-Scale Networks (AREA)
US18/033,904 2020-12-08 2021-12-01 Robot control device, robot control system, and robot control method Pending US20230405825A1 (en)

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PCT/JP2021/044048 WO2022124153A1 (ja) 2020-12-08 2021-12-01 ロボット制御装置、ロボット制御システム及びロボット制御方法

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JP7230677B2 (ja) * 2019-05-13 2023-03-01 オムロン株式会社 制御装置

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